TY - GEN
T1 - Robust attitude tracking control for a quadrotor based on the uncertainty and disturbance estimator
AU - Dai, Jiguo
AU - Lu, Qi
AU - Ren, Beibei
AU - Zhong, Qing Chang
N1 - Publisher Copyright:
Copyright © 2015 by ASME.
PY - 2015
Y1 - 2015
N2 - In this paper, a robust control method based on the uncertainty and disturbance estimator (UDE) is developed to achieve the attitude tracking control for a quadrotor. To facilitate the control design, the coupled terms in the roll, pitch and yaw dynamics are lumped into the uncertainty term and the remained dynamics can be regarded as decoupled subsystems. As a result, for each subsystem, the lumped uncertainty term contains all the coupled terms, uncertainties and disturbances, then the UDE method is applied for the uncertainty compensation. Compared with the existing UDE control works, the introduced filtered tracking error dynamics simplifies the controller design and implementation. Furthermore, the stability analysis of the closed-loop system is established and experimental studies are carried out to illustrate the effectiveness of the developed control method.
AB - In this paper, a robust control method based on the uncertainty and disturbance estimator (UDE) is developed to achieve the attitude tracking control for a quadrotor. To facilitate the control design, the coupled terms in the roll, pitch and yaw dynamics are lumped into the uncertainty term and the remained dynamics can be regarded as decoupled subsystems. As a result, for each subsystem, the lumped uncertainty term contains all the coupled terms, uncertainties and disturbances, then the UDE method is applied for the uncertainty compensation. Compared with the existing UDE control works, the introduced filtered tracking error dynamics simplifies the controller design and implementation. Furthermore, the stability analysis of the closed-loop system is established and experimental studies are carried out to illustrate the effectiveness of the developed control method.
UR - http://www.scopus.com/inward/record.url?scp=84973369335&partnerID=8YFLogxK
U2 - 10.1115/DSCC2015-9900
DO - 10.1115/DSCC2015-9900
M3 - Conference contribution
AN - SCOPUS:84973369335
T3 - ASME 2015 Dynamic Systems and Control Conference, DSCC 2015
BT - Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2
PB - American Society of Mechanical Engineers
T2 - ASME 2015 Dynamic Systems and Control Conference, DSCC 2015
Y2 - 28 October 2015 through 30 October 2015
ER -